CN113043241B - Light wearable local force feedback bionic double-arm exoskeleton main hand - Google Patents
Light wearable local force feedback bionic double-arm exoskeleton main hand Download PDFInfo
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- CN113043241B CN113043241B CN201911370120.XA CN201911370120A CN113043241B CN 113043241 B CN113043241 B CN 113043241B CN 201911370120 A CN201911370120 A CN 201911370120A CN 113043241 B CN113043241 B CN 113043241B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 44
- 210000000245 forearm Anatomy 0.000 claims abstract description 57
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 47
- 210000000707 wrist Anatomy 0.000 claims abstract description 41
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 39
- 229910003460 diamond Inorganic materials 0.000 claims description 30
- 239000010432 diamond Substances 0.000 claims description 30
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000003592 biomimetic effect Effects 0.000 claims 6
- 230000008602 contraction Effects 0.000 abstract description 3
- 210000003811 finger Anatomy 0.000 description 7
- 210000001503 joint Anatomy 0.000 description 7
- 210000001364 upper extremity Anatomy 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004171 remote diagnosis Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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- 230000005855 radiation Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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Abstract
The invention relates to a light wearable local force feedback bionic double-arm exoskeleton main hand, wherein a degree-of-freedom force feedback hand control grip is arranged at the output end of a wrist palmar dorsiflexion joint component, the wrist palmar dorsiflexion joint component is fixedly connected with the output end of a degree-of-freedom wrist ruler Qu Naoqu joint component, and a degree-of-freedom wrist ruler Qu Naoqu joint component is fixedly connected with the output end of a degree-of-freedom forearm rotary joint component; one end of the elbow joint component with one degree of freedom is fixedly connected with the forearm convolution joint component, the other end of the elbow joint component with one degree of freedom is fixedly connected with one end of the spherical bionic shoulder joint component with three degrees of freedom, and the other end of the spherical bionic shoulder joint component with three degrees of freedom is arranged on the back base; the three-degree-of-freedom spherical bionic shoulder joint assembly has three degrees of freedom of shoulder forward extension and backward contraction, shoulder abduction and adduction and shoulder internal rotation and external rotation. The invention has the characteristics of being wearable, compact in structure, light in weight, strong in motion compatibility and control flexibility and the like, and can be widely applied to the field of exoskeleton teleoperation.
Description
Technical Field
The invention belongs to the field of exoskeleton robot technology and master-slave teleoperation, and particularly relates to a light wearable local force feedback bionic double-arm exoskeleton master hand.
Background
With the rapid development of industrial technology, the seven-degree-of-freedom serial robot has higher flexibility, reliability and adaptability, can avoid the structural singularity problem and joint limitation problem which often occur in the six-degree-of-freedom serial robot, has stronger obstacle avoidance capability, can smoothly complete complex tasks under some special requirements and environments, is widely applied to industries such as assembly, welding and the like, and has realized automatic control. However, in the non-structural environment and diversified task operations such as nuclear radiation, fire disaster and anti-terrorism operation sites, the automatic operation of the robot is still difficult to realize, personnel are still needed to participate in control, and master-slave teleoperation is the most commonly used operation method.
The seven-degree-of-freedom serial robot needs control parameters of a plurality of joints in the control process so as to reproduce the upper limb operation actions of a master end operator at a slave end and realize complex task operation in an unstructured environment. However, in the existing master-slave teleoperation system, on one hand, the master end manipulator mostly adopts a six-degree-of-freedom force feedback controller heterogeneous with the human arm to realize the Cartesian space pose control of the master end tool and the slave end tool, so that each joint of the slave end mechanical arm cannot be effectively controlled and planned, and the flexibility, adaptability and obstacle avoidance capability of the seven-degree-of-freedom serial robot are reduced; on one hand, the main end hand part is mostly provided with a control button to trigger a control instruction or a hand mechanism matched with the auxiliary end clamping jaw, the degree of fitting with the natural motion of human fingers is low, the real operation force of the auxiliary hand end tool cannot be perceived, the multi-task parallel control is inconvenient, and the operation intuitiveness is affected; on one hand, the existing exoskeleton-type teleoperation main hand-shoulder joint positions adopt a triaxial vertical orthogonal scheme, so that the abduction movement of the shoulder is severely limited, and the man-machine interference problem exists; on one hand, the forearm rotating mechanism mostly adopts a circular arc gear or a multi-parallelogram mode, has large volume and weight, is easy to cause the deviation of the gravity center of the mechanism and the movement gravity center of the human forearm, and enhances the control fatigue; in addition, the exoskeleton type main hand fixed on the base has a large coupling force in the human-computer interaction process, so that the motion information acquisition and operation comfort needs to be improved.
Disclosure of Invention
Aiming at the problems of the prior exoskeleton type teleoperation master hand, the invention aims to provide a light wearable local force feedback bionic double-arm exoskeleton master hand.
The aim of the invention is realized by the following technical scheme:
the wrist dorsiflexion/dorsiflexion device comprises a degree-of-freedom force feedback hand control handle, a degree-of-freedom wrist dorsiflexion/dorsiflexion joint component, a degree-of-freedom wrist ruler Qu Naoqu joint component, a degree-of-freedom forearm convolution joint component, a degree-of-freedom elbow joint component, a three-degree-of-freedom spherical bionic shoulder joint component, a back base, a bearing system and an upper arm strap component, wherein the degree-of-freedom force feedback hand control handle is arranged at the output end of the wrist dorsiflexion/dorsiflexion joint component, the wrist dorsiflexion/dorsiflexion joint component is fixedly connected with the output end of the degree-of-freedom wrist ruler Qu Naoqu joint component, and the degree-of-freedom wrist ruler Qu Naoqu joint component is fixedly connected with the output end of the degree-of-freedom forearm convolution joint component; one end of the one-degree-of-freedom elbow joint assembly is fixedly connected with the one-degree-of-freedom forearm rotary joint assembly, the other end of the one-degree-of-freedom elbow joint assembly is fixedly connected with one end of the three-degree-of-freedom spherical bionic shoulder joint assembly, and the other end of the three-degree-of-freedom spherical bionic shoulder joint assembly is arranged on the back base; the three-degree-of-freedom spherical bionic shoulder joint assembly has three degrees of freedom of shoulder forward extension and backward shrinkage, shoulder abduction and adduction and shoulder internal rotation and external rotation; the backpack system is arranged on the back base and is used for being worn on a human body; an upper arm binding belt assembly is arranged between the one-degree-of-freedom elbow joint assembly and the three-degree-of-freedom spherical bionic shoulder joint assembly.
Wherein: the one-degree-of-freedom force feedback hand control grip comprises a control trigger, a trigger shaft, a control grip main body, a grip encoder, a rotating wheel, a power motor, a tension line, a non-return spring and a driving wheel, wherein the control trigger is positioned at the front end of the control grip main body, one end of the control trigger is rotationally connected with a trigger shaft arranged on the control grip main body, the other end of the control trigger is a hand-held end and is positioned outside the control grip main body, and the rotating wheel is arranged at one end of the control trigger; the grip encoder, the power motor, the tension line, the non-return spring and the driving wheel are all positioned in the control grip main body, the power motor is fixed in the control grip main body, the output end is connected with the driving wheel, and the two ends of the tension line are respectively wound on the rotating wheel and the driving wheel; one end of the non-return spring is connected to the driving wheel, and the other end of the non-return spring is connected to the inside of the control handle main body; the power motor is in a locked-rotor state when in operation, and a handle encoder is arranged on a motor shaft of the power motor; the control handle main body is connected with the output end of the wrist palmar dorsiflexion joint component with one degree of freedom.
The control handle main body is provided with a protective cover, and the spanner shaft, the rotating wheel, the tension line, the non-return spring and the driving wheel are all positioned in a space surrounded by the control handle main body and the protective cover.
The forearm rotary joint assembly with one degree of freedom comprises a forearm motion retainer, a crisscross roller bearing, a forearm fixing retainer and an annular encoder, wherein the forearm motion retainer is fixedly connected with the inner ring of the crisscross roller bearing, and the forearm fixing retainer is fixedly connected with the outer ring of the crisscross roller bearing; the inner ring and the outer ring of the annular encoder are respectively connected with the forearm movement retainer and the forearm fixing retainer; the one degree of freedom wrist ruler Qu Naoqu joint assembly is connected with a forearm motion retainer, and the forearm fixation retainer is connected with one end of the one degree of freedom elbow joint assembly.
The three-degree-of-freedom spherical bionic shoulder joint assembly comprises a shoulder forwards-extending and backwards-shrinking fixing frame, an abduction and inwards-shrinking fixing frame and two spherical diamond mechanisms positioned between the shoulder forwards-extending and backwards-shrinking fixing frame and the abduction and inwards-shrinking fixing frame, wherein four sides of each spherical diamond mechanism are arc-shaped, adjacent sides are connected through rotating shafts in a rotating mode, a rotating shaft at one end point of one spherical diamond mechanism is arranged on the shoulder forwards-extending and backwards-shrinking fixing frame, the opposite end point and one end point of the other spherical diamond mechanism share one rotating shaft, and rotating shafts at the opposite end points of the other spherical diamond mechanism are arranged on the abduction and inwards-shrinking fixing frame; the shoulder forwards-extending and backwards-shrinking fixing frame is connected with the other end of the elbow joint assembly with one degree of freedom, and the abduction and adduction fixing frame is arranged on the back base.
The two spherical diamond mechanisms comprise a first shoulder short rod, a second shoulder short rod, a third shoulder short rod, a fourth shoulder short rod, a first shoulder long rod and a second shoulder long rod, wherein the first shoulder long rod and the second shoulder long rod are in an X shape, and the middle of the first shoulder long rod and the middle of the second shoulder long rod are rotationally connected through a shoulder central shaft; one end of the first shoulder short rod is connected with one end of the first shoulder long rod through a first shoulder shared rotating shaft, the other end of the first shoulder short rod is connected with one end of the third shoulder short rod through a front extending and back shrinking rotating shaft, the other end of the third shoulder short rod is connected with one end of the second shoulder long rod through a third shoulder shared rotating shaft, one end of the second shoulder short rod is connected with the other end of the first shoulder long rod through a second shoulder shared rotating shaft, the other end of the second shoulder short rod is connected with one end of the fourth shoulder short rod through an abduction and adduction rotating shaft, and the other end of the fourth shoulder short rod is connected with the other end of the second shoulder long rod through a fourth shoulder shared rotating shaft; the first shoulder long rod and the second shoulder long rod are shared rods of two spherical diamond mechanisms, and the front-extension back-extension rotating shaft and the abduction and adduction rotating shaft are respectively arranged on the shoulder front-extension back-extension fixing frame and the abduction and adduction fixing frame.
The shoulder central shaft, the front stretching and rear shrinking shaft and the abduction and adduction shaft are respectively provided with encoders for recording the relative angles of the connecting rods of the spherical diamond mechanism in the movement process.
The radians of the first shoulder long rod and the second shoulder long rod are equal, the radians of the first shoulder short rod, the second shoulder short rod, the third shoulder short rod and the fourth shoulder short rod are equal, and the radians of the first shoulder long rod and the second shoulder long rod are twice as large as the radians of the first shoulder short rod, the second shoulder short rod, the third shoulder short rod and the fourth shoulder short rod; the first shoulder long rod and the third shoulder short rod and the fourth shoulder short rod have the same curvature radius, and the second shoulder long rod and the first shoulder short rod and the second shoulder short rod have the same curvature radius.
The rotation axes of the first shoulder shared rotating shaft, the second shoulder shared rotating shaft, the third shoulder shared rotating shaft, the fourth shoulder shared rotating shaft, the shoulder central shaft, the front stretching and rear shrinking rotating shaft and the abduction and adduction rotating shaft are converged at the sphere center; after the three-degree-of-freedom spherical bionic shoulder joint assembly is worn, the rotation axis of the front stretching and rear shrinking shaft coincides with the front stretching and rear shrinking joint axis of the shoulder joint of a human body, the rotation axis of the outer stretching and inner shrinking shaft coincides with the front stretching and rear shrinking joint axis of the human body, the rotation axis of the inner rotating and outer rotating coincides with the rotation axis of the inner rotating and outer rotating joint axis of the shoulder of the human body, and the rotation axis of the front stretching and rear shrinking shaft, the rotation axis of the outer stretching and inner shrinking shaft and the rotation axis of the inner rotating and outer rotating intersect with each other in the initial state in a spherical center, and the spherical center coincides with the movement center of the shoulder joint of the human body all the time.
The shoulder central shaft, the front stretching and rear shrinking shaft and the abduction and adduction shaft are respectively provided with an initial positioning reference for determining the initial posture of the three-degree-of-freedom spherical bionic shoulder joint assembly.
The invention has the advantages and positive effects that:
1. the wearable local force feedback bionic double-arm exoskeleton main hand (single-side eight degrees of freedom) is designed based on human upper limb anatomy and bionics innovation, the structure is compact, the weight is light, the backpack system can support the exoskeleton robot on the back of a human body, the fixation of the exoskeleton robot and the back of the human body is completed by utilizing three points of waist and shoulders, and the self weight of the exoskeleton robot is transferred to the trunk of the human body; the invention can accurately collect the motion parameters of each motion joint displacement and rotation angle of the double arms of an operator, and is used for controlling the motion of the slave mechanical arm to be reproduced in real time, and the flexibility, adaptability, intuitiveness and obstacle avoidance capability of remote operation under a non-structural environment are greatly improved by the aid of information such as vision.
2. The invention innovatively designs the one-degree-of-freedom force feedback control grip, which can effectively avoid the defects that the traditional grip adopts a button to trigger a control instruction or a two-finger grip hand mechanism, an operator can control the grip angle of an end tool in real time by using an index finger and sense the operating force of the end tool from the hand, on the other hand, a micro-motion button assembly set in the thumb operating area of the control grip is controlled, the grip stability of the control grip and the flexibility of the index finger control trigger are ensured, and simultaneously, the function switching and the multi-task parallel processing under different states can be realized through different button combination control, so that the expansibility is strong.
3. The bionic shoulder joint based on the spherical diamond mechanism is innovatively designed, the spherical mechanism is distributed on the outer side of the shoulder joint of the human body, so that the interference between the exoskeleton and the head of the human body in the large-range abduction movement can be effectively avoided, the high movement compatibility is achieved, and the flexibility of the shoulder movement is greatly improved; meanwhile, the spherical diamond mechanism is of a spherical wrapping structure, is simple and compact in structure and light in weight, has high compatibility with the external contour of the shoulder joint of a human body, and improves wearing comfort.
4. According to the annular forearm rotary joint assembly, the light crossed roller bearing is utilized for carrying axial and radial loads, so that the defect that the gravity center of the mechanism is not coincident with the gravity center of the forearm can be avoided while the detection stability of the movement of the forearm is improved, the fatigue in the operation process is reduced, and the operation comfort is improved.
5. The invention has compact structure and strong control flexibility and comfort, and can be widely applied to the teleoperation technical fields of remote diagnosis and treatment first aid, remote motion reproduction, force feedback and the like; meanwhile, the bionic double-arm exoskeleton main hand configuration can be applied to the daily life action assistance and rehabilitation training of the upper limbs of patients with upper limb movement dysfunction such as stroke, hemiplegia and the like by introducing a power source (motor), a torque sensor (human-computer interaction force sensing) and the like into joints, and meanwhile, the daily action assistance and rehabilitation training can be carried out on single joints and combined joints, so that the bionic double-arm exoskeleton main hand configuration has a wide application prospect in the medical rehabilitation field.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a hand-operated grip with a degree of freedom force feedback according to the present invention;
FIG. 3 is an exploded view of a one degree of freedom forearm swing joint assembly according to the invention;
FIG. 4 is a schematic diagram of the front structure of a three degree-of-freedom spherical bionic shoulder joint assembly of the present invention;
FIG. 5 is a schematic view of the back structure of the three degree-of-freedom spherical bionic shoulder joint assembly of the present invention;
wherein: 1000 is a degree of freedom force feedback hand control grip, 1001 is a control trigger, 1002 is a trigger shaft, 1003 is a control grip main body, 1004 is a grip encoder, 1005 is a rotating wheel, 1006 is a power motor, 1007 is a protective cover, 1008 is a tension line, 1009 is a counter spring, 1010 is a driving wheel;
2000 is a wrist metacarpophalangeal dorsiflexion joint component with one degree of freedom, 3000 is a wrist ruler Qu Naoqu joint component with one degree of freedom,
4000 is a forearm revolute joint assembly with one degree of freedom, 4001 is a forearm motion cage, 4002 is a crisscross roller bearing, 4003 is a forearm fixation cage, and 4004 is an annular encoder;
5000 is an elbow joint component with one degree of freedom,
6000 is a three-degree-of-freedom spherical bionic shoulder joint assembly, 6001 is a first shoulder short rod, 6002 is a second shoulder short rod, 6003 is a third shoulder short rod, 6004 is a fourth shoulder short rod, 6005 is a first shoulder long rod, 6006 is a second shoulder long rod, 6007 is a shoulder front-extension and back-extension fixing frame, 6008 is an abduction and adduction fixing frame, 6009 is a first shoulder shared rotating shaft, 6010 is a second shoulder shared rotating shaft, 6011 is a third shoulder shared rotating shaft, 6012 is a fourth shoulder shared rotating shaft, 6013 is a shoulder central shaft, 6014 is a front-extension and back-extension rotating shaft, and 6015 is an abduction and adduction rotating shaft;
j1 is a rotation axis of a forward-extending and backward-retracting rotating shaft, J2 is a rotation center line of a wrist ruler Qu Naoqu joint component, J3 is a rotation center line of a forearm rotary joint component, J4 is a rotation center line of an elbow joint component, J5 is a rotation center line of a wrist metacarpophalangeal dorsiflexion joint component, K1 is a rotation axis of an abduction and adduction rotating shaft, L1 is an internal rotation and external rotation axis, M1 is a first encoder, M2 is a second encoder, M3 is a third encoder, N is an initial positioning reference, and O is a sphere center.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the present invention includes a degree-of-freedom force feedback hand manipulation grip 1000, a degree-of-freedom wrist dorsiflexion joint assembly 2000, a degree-of-freedom wrist ruler Qu Naoqu joint assembly 3000, a degree-of-freedom forearm convolution joint assembly 4000, a degree-of-freedom elbow joint assembly 5000, a three-degree-of-freedom spherical bionic shoulder joint assembly 6000, a back base 0001, a back carrying system 0002 and an upper arm strap assembly 0003, wherein the degree-of-freedom force feedback hand manipulation grip 1000 is mounted at the output end of the wrist dorsiflexion joint assembly 2000, the wrist dorsiflexion joint assembly 2000 is fixedly connected with the output end of the degree-of-freedom wrist ruler Qu Naoqu joint assembly 3000, and the degree-of-freedom wrist ruler Qu Naoqu joint assembly 3000 is fixedly connected with the output end of the degree-of-freedom forearm convolution joint assembly 4000; one end of a freedom elbow joint component 5000 is fixedly connected with a freedom forearm convolution joint component 4000, the other end is fixedly connected with one end of a three-freedom spherical bionic shoulder joint component 6000, and the other end of the three-freedom spherical bionic shoulder joint component 6000 is arranged on a back base 0001; the three-degree-of-freedom spherical bionic shoulder joint assembly 6000 has three degrees of freedom of shoulder forward extension and backward contraction, shoulder abduction and adduction and shoulder internal rotation and external rotation; the backpack system 0002 is mounted on the back base 0001 for wearing on a person; an upper arm strap assembly 0003 is installed between the one-degree-of-freedom elbow joint assembly 5000 and the three-degree-of-freedom spherical bionic shoulder joint assembly 6000. The back base 0001 of the present embodiment is used to support the whole double-arm exoskeleton main hand, and can be adjusted according to the shoulder width; the back carrying system 0002 is arranged on the back base 0001, can support the main hand of the whole double-arm exoskeleton on the back of a human body, and can fix the exoskeleton robot and the back of the human body by using the waist and the double-shoulder three-point support and transmit the self weight of the exoskeleton robot to the trunk of the human body; the backpack system 0002 of this embodiment is the prior art, and may be a strap or a waistband; the upper arm strap assembly 0003 is used for fixing the upper arm of a human body and the double-arm exoskeleton, and improving the control of the main hand movement path of the double-arm exoskeleton; the upper arm strap assembly 0003 of this embodiment is a prior art, and may be a forearm fixing assembly disclosed in a "wearable wrist torsional pendulum assisting rehabilitation device" published on 7/2/2019 under the publication number CN109953866 a.
The wrist dorsiflexion/dorsiflexion joint assembly 2000, the wrist ruler Qu Naoqu joint assembly 3000 and the elbow joint assembly 5000 are all of the prior art, and each of the two assemblies includes a rotation axis and an angle encoder for driving the joint and obtaining the joint movement angle. The wrist dorsiflexion/dorsiflexion joint assembly 2000 and the scale Qu Naoqu joint assembly 3000 are respectively used for connecting the hand manipulation grip 1000 and the forearm convolution joint assembly 4000, and the rotation axes of the three assemblies are perpendicularly intersected at a point and respectively coincide with three physiological axes of the wrist and the forearm of the human body (namely, the wrist dorsiflexion/dorsiflexion joint assembly rotation center line J5, the wrist scale Qu Naoqu joint assembly rotation center line J2 and the forearm convolution joint assembly rotation center line J3) in a movement range. The one-degree-of-freedom elbow joint assembly 5000 is used for connecting the one-degree-of-freedom forearm rotary joint assembly 4000 and the three-degree-of-freedom spherical bionic shoulder joint assembly 6000, and the rotation axis (the elbow joint assembly rotation center J4) of the one-degree-of-freedom elbow joint assembly 5000 is coincident with the physiological axis of the human elbow in the movement range; three rotation axes (namely a front stretching back shrinking rotation axis J1, an inner rotation and outer rotation axis L1 and an outer stretching and inner shrinking rotation axis K1) of the three-degree-of-freedom spherical bionic shoulder joint assembly are respectively overlapped with three physiological axes of the shoulder in a motion range; the relative position of each joint can be adjusted according to the human body size of an operator.
The one-degree-of-freedom force feedback hand control grip 1000 of this embodiment includes a control trigger 1001, a trigger shaft 1002, a control grip body 1003, a grip encoder 1004, a rotating wheel 1005, a power motor 1006, a tension wire 1008, a non-return spring 1009 and a driving wheel 1010, wherein the control trigger 1001 is located at the front end of the control grip body 1003, one end of the control trigger 1001 is rotatably connected with the trigger shaft 1002 provided on the control grip body 1003, the other end is a hand-held end and is located outside the control grip body 1003, and the rotating wheel 1005 is mounted at one end of the control trigger 1001; the handle encoder 1004, the power motor 1006, the tension line 1008, the non-return spring 1009 and the driving wheel 1010 are all positioned in the handle main body 1003, the handle main body 1003 is provided with the protection cover 1007, and the trigger shaft 1002, the rotating wheel 1005, the tension line 1008, the non-return spring 1009 and the driving wheel 1010 are all positioned in the space surrounded by the handle main body 1003 and the protection cover 1007. The power motor 1006 is fixed in the control handle main body 1003, the output end is connected with a driving wheel 1010, and the axial direction of the driving wheel 1010 is perpendicular to the axial direction of the rotating wheel 1005; both ends of the tension wire 1008 are respectively wound on the rotating wheel 1005 and the driving wheel 1010, so that the power motor 1006 and the control trigger 1001 realize proportional rotation; one end of the backstop spring 1009 is connected to the driving wheel 1010, and the other end is connected to a column arranged in the control grip body 1003, so that the tension line 1008 can still keep a tension state when the power motor 1006 is powered off or the trigger is quickly pulled; the power motor 1006 is in a locked state when in operation, the tension wire 1008 is always tensioned, and the control trigger 1001 is in an "on" state; under the condition that the three fingers and the palm grip the control handle main body 1003, the index finger overcomes the locked-rotor resistance of the power motor 1006, the control trigger 1001 is flexibly pulled to drive the motor shaft of the power motor 1006 to synchronously rotate, the lower end of the power motor 1006 is fixedly connected with the handle encoder 1004, and the rotating angle of the power motor 1006 is detected in real time. The power motor 1006 plays a role in tensioning in a locked state, and the motor shaft of the power motor 1006 is driven to rotate by the active movement of the fingers of a person, and then the rotation angle of the finger pulling operation trigger 1001 is acquired through the grip encoder 1004. The steering grip body 1003 is connected to the output of a one degree of freedom wrist dorsiflexion assembly 2000.
The one-degree-of-freedom forearm revolute joint assembly 4000 of the present embodiment includes a forearm motion holder 4001, a cross roller bearing 4002, a forearm fixing holder 4003, and an annular encoder 4004, the forearm motion holder 4001 being fixedly connected with an inner ring of the cross roller bearing 4002, the forearm fixing holder 4003 being fixedly connected with an outer ring of the cross roller bearing 4002; when an operator performs the inner rotation and outer rotation movement of the forearm, the forearm movement holder 4001 is driven to perform the inner rotation and outer rotation movement relative to the forearm fixing holder 4003, and the crossed roller bearing 4002 can have a smaller axial dimension (compact structure), bear larger axial and radial loads in the movement process, and improve the movement stability of the forearm. The inner and outer rings of the ring encoder 4004 are connected to the forearm moving holder 4001 and the forearm fixing holder 4003, respectively, the one-degree-of-freedom wrist ruler Qu Naoqu joint assembly 3000 is connected to the forearm moving holder 4001, and the forearm fixing holder 4003 is connected to one end of the one-degree-of-freedom elbow joint assembly 5000.
The three-degree-of-freedom spherical bionic shoulder joint assembly 6000 of the embodiment comprises a shoulder forwards-backwards-shrinking fixing frame 6007, an abduction-adduction fixing frame 6008 and two spherical diamond mechanisms positioned between the shoulder forwards-backwards-shrinking fixing frame 6007 and the abduction-adduction fixing frame 6008, wherein four sides of each spherical diamond mechanism are arc-shaped, adjacent sides are rotationally connected through rotating shafts, the rotating shaft at one end point of one spherical diamond mechanism is arranged on the shoulder forwards-stretching-backwards-shrinking fixing frame 6007, the opposite end point and one end point of the other spherical diamond mechanism share one rotating shaft, and the rotating shaft at the opposite end point of the other spherical diamond mechanism is arranged on the abduction-adduction fixing frame 6008; the shoulder anteroposterior mount 6007 is connected to the other end of the one-degree-of-freedom elbow joint assembly 5000, and the abduction and adduction mount 6008 is mounted on the back base 0001.
The two spherical diamond mechanisms of the present invention include a first shoulder short bar 6001, a second shoulder short bar 6002, a third shoulder short bar 6003, a fourth shoulder short bar 6004, a first shoulder long bar 6005 and a second shoulder long bar 6006, the four shoulder short bars and the two shoulder long bars being arc-shaped bars and all being curved to the same side; the first shoulder long rod 6005 and the second shoulder long rod 6006 are in an X shape, and the middle is rotationally connected through a shoulder central shaft 6013; one end of a first shoulder short lever 6001 is connected to one end of a first shoulder long lever 6005 through a first shoulder shared shaft 6009, the other end of the first shoulder short lever 6001 is connected to one end of a third shoulder short lever 6003 through a front-extension-back-retraction shaft 6014, the other end of the third shoulder short lever 6003 is connected to one end of a second shoulder long lever 6006 through a third shoulder shared shaft 6011, one end of a second shoulder short lever 6002 is connected to the other end of the first shoulder long lever 6005 through a second shoulder shared shaft 6010, the other end of the second shoulder short lever 6002 is connected to one end of a fourth shoulder short lever 6004 through an extension-retraction shaft 6015, and the other end of the fourth shoulder short lever 6004 is connected to the other end of the second shoulder long lever 6006 through a fourth shoulder shared shaft 6012; the first shoulder long rod 6005 and the second shoulder long rod 6006 are shared rods of two spherical diamond mechanisms, the other four shoulder short rods and the shoulder short rods are connected in the same way, namely, the rotating shafts are adopted to rotate and connect, and each rotating shaft is connected with the shoulder short rod or the shoulder long rod through a bearing; the front-extension and rear-retraction shaft 6014 and the abduction and adduction shaft 6015 are respectively mounted on the shoulder front-extension and rear-retraction fixing frame 6007 and the abduction and adduction fixing frame 6008. In the present embodiment, a first encoder M1 is mounted on an abduction and adduction shaft 6015, a second encoder M2 is mounted on a shoulder center shaft 6013, and a third encoder M3 is mounted on a front extension and retraction shaft 6014; the shoulder central shaft 6013, the front-extension and rear-extension rotary shaft 6014 and the abduction and adduction rotary shaft 6015 are respectively provided with an initial positioning reference N for determining the initial posture of the shoulder joint bionic mechanism, and the initial positioning reference N in the embodiment adopts the cooperation of a screw and a screw hole to determine the initial state of the glenohumeral joint bionic mechanism.
The radians of the first shoulder long bar 6005 and the second shoulder long bar 6006 in this embodiment are equal, the radians of the first shoulder short bar 6001, the second shoulder short bar 6002, the third shoulder short bar 6003 and the fourth shoulder short bar 6004 are equal, and the radians of the first shoulder long bar 6005 and the second shoulder long bar 6006 are twice the radians of the first shoulder short bar 6001, the second shoulder short bar 6002, the third shoulder short bar 6003 and the fourth shoulder short bar 6004. The first shoulder long bar 6005 has the same radius of curvature as the third and fourth shoulder short bars 6003, 6004, and the second shoulder long bar 6006 has the same radius of curvature as the first and second shoulder short bars 6001, 6002.
The rotation axes of the first shoulder shared shaft 6009, the second shoulder shared shaft 6010, the third shoulder shared shaft 6011, the fourth shoulder shared shaft 6012, the shoulder center shaft 6013, the front-extension-rear-contraction shaft 6014, and the abduction-adduction shaft 6015 of the present embodiment meet at the center O; after the three-degree-of-freedom spherical bionic shoulder joint assembly 6000 is worn, the rotation axis J1 of the front stretching and rear shrinking shaft 6014 coincides with the front stretching and rear shrinking shaft of the shoulder joint of the human body, the rotation axis K1 of the outer stretching and inner shrinking shaft 6015 coincides with the front stretching and rear shrinking shaft of the human body, the rotation axis L1 of the inner rotating and outer rotating coincides with the rotation axis of the inner rotating and outer rotating joint of the shoulder of the human body, and the rotation axis J1 of the front stretching and rear shrinking shaft, the rotation axis K1 of the outer stretching and inner shrinking shaft and the rotation axis L1 of the inner rotating and outer rotating intersect with each other perpendicularly at the spherical center O in an initial state, and the spherical center O always coincides with the movement center of the shoulder joint of the human body. The three-degree-of-freedom spherical bionic shoulder joint assembly 6000 of the embodiment has a spherical wrapping structure and is high in compatibility with the external contour of the shoulder joint of a human body; meanwhile, the spherical diamond-shaped mechanisms are distributed on the outer sides of shoulder joints of a human body, so that man-machine interference in the traditional exoskeleton large-range abduction adduction movement can be effectively avoided.
In abduction and adductionThe shaft 6015 is provided with a first encoder M1, a second encoder M2 and a third encoder M3 respectively on a shoulder central shaft 6013 and a front-extension-back-retraction shaft 6014; the angle phi recorded by the second encoder M2 2 The angle phi recorded by the first encoder M1 is the angle between the first shoulder length 6005 and the second shoulder length 6006 1 Is half the detection angle of the second encoder M2 (i.e) The sum of the abduction and adduction angles of the whole spherical diamond mechanism, and the angle phi recorded by the third encoder M3 3 For the second encoder M2 half the detection angle (i.e +.>) The sum of the forward and backward shrinking angles of the spherical diamond mechanism; the joint angle recognition algorithm obtained according to radian alpha of a short shoulder rod and a long shoulder rod in the spherical diamond mechanism, symmetry of the spherical diamond mechanism and a spherical triangle cosine theorem comprises the following steps:
the internal rotation and external rotation angles of the shoulder are
The outward extension and inward contraction angle of the shoulder is
The shoulder is stretched forward and retracted at an angle of
The relative angles of the shoulder short rod and the shoulder long rod in the spherical diamond mechanism in the motion process are recorded in real time, and the motion data of the shoulder joint of the human body can be obtained in real time by utilizing a joint angle recognition algorithm.
The invention can carry out high-precision data acquisition on the movement angle of the upper limb joint of an operator, can accurately acquire all movement joints and tail end pose through kinematic positive solution, can carry out real-time feedback on the clamping force of a slave hand end tool by a one-degree-of-freedom force feedback hand control assembly, realizes accurate control on all movement joints and tail end tools of a slave hand end mechanical arm, and ensures that the slave hand end has stronger obstacle avoidance capability. The invention has compact structure, light weight, strong flexibility and adaptability and is mainly used in the teleoperation fields of remote diagnosis and treatment first aid, remote motion reproduction and the like.
Claims (7)
1. A light wearable local force feedback bionic double-arm exoskeleton master hand, which is characterized in that: the wrist dorsiflexion/dorsiflexion device comprises a degree-of-freedom force feedback hand control grip (1000), a degree-of-freedom wrist dorsiflexion/dorsiflexion joint component (2000), a degree-of-freedom wrist ruler Qu Naoqu joint component (3000), a degree-of-freedom forearm convolution joint component (4000), a degree-of-freedom elbow joint component (5000), a three-degree-of-freedom spherical bionic shoulder joint component (6000), a back base (0001), a back carrying system (0002) and an upper arm binding belt component (0003), wherein the degree-of-freedom force feedback hand control grip (1000) is arranged at the output end of the wrist dorsiflexion/dorsiflexion joint component (2000), the wrist dorsiflexion/dorsiflexion joint component (2000) is fixedly connected with the output end of the degree-of-freedom wrist ruler Qu Naoqu joint component (3000), and the degree-of-freedom wrist ruler Qu Naoqu joint component (3000) is fixedly connected with the output end of the degree-of-freedom forearm convolution joint component (4000); one end of the one-degree-of-freedom elbow joint assembly (5000) is fixedly connected with the one-degree-of-freedom forearm rotary joint assembly (4000), the other end of the one-degree-of-freedom elbow joint assembly is fixedly connected with one end of the three-degree-of-freedom spherical bionic shoulder joint assembly (6000), and the other end of the three-degree-of-freedom spherical bionic shoulder joint assembly (6000) is arranged on the back base (0001); the three-degree-of-freedom spherical bionic shoulder joint assembly (6000) has three degrees of freedom of shoulder stretching back and forth, shoulder abduction and adduction and shoulder internal rotation and external rotation; the backpack system (0002) is mounted on a back base (0001) for wearing on a human body; an upper arm binding belt assembly (0003) is arranged between the one-degree-of-freedom elbow joint assembly (5000) and the three-degree-of-freedom spherical bionic shoulder joint assembly (6000);
the one-degree-of-freedom force feedback hand control grip (1000) comprises a control trigger (1001), a trigger shaft (1002), a control grip main body (1003), a grip encoder (1004), a rotating wheel (1005), a power motor (1006), a tension line (1008), a non-return spring (1009) and a driving wheel (1010), wherein the control trigger (1001) is positioned at the front end of the control grip main body (1003), one end of the control trigger (1001) is rotationally connected with the trigger shaft (1002) arranged on the control grip main body (1003), the other end is a hand-held end and is positioned outside the control grip main body (1003), and the rotating wheel (1005) is arranged at one end of the control trigger (1001); the grip encoder (1004), the power motor (1006), the tension line (1008), the non-return spring (1009) and the driving wheel (1010) are all positioned in the control grip main body (1003), the power motor (1006) is fixed in the control grip main body (1003), the output end is connected with the driving wheel (1010), and the two ends of the tension line (1008) are respectively wound on the rotating wheel (1005) and the driving wheel (1010); one end of the non-return spring (1009) is connected to the driving wheel (1010), and the other end is connected to the inside of the control handle main body (1003); the power motor (1006) is in a locked-rotor state when in operation, and a handle encoder (1004) is arranged on a motor shaft of the power motor (1006); the control handle main body (1003) is connected with the output end of the wrist palmar dorsiflexion joint component (2000) with one degree of freedom;
the three-degree-of-freedom spherical bionic shoulder joint assembly (6000) comprises a shoulder forwards-backwards-shrinking fixing frame (6007), an abduction and adduction fixing frame (6008) and two spherical diamond mechanisms positioned between the shoulder forwards-backwards-shrinking fixing frame (6007) and the abduction and adduction fixing frame (6008), wherein four sides of each spherical diamond mechanism are arc-shaped, adjacent sides are connected through rotating shafts, the rotating shaft at one end point of one spherical diamond mechanism is arranged on the shoulder forwards-stretching and adduction fixing frame (6007), the opposite end point and one end point of the other spherical diamond mechanism share one rotating shaft, and the rotating shaft at the opposite end point of the other spherical diamond mechanism is arranged on the abduction and adduction fixing frame (6008); the shoulder forwards-extending and backwards-shrinking fixing frame (6007) is connected with the other end of the elbow joint component (5000) with one degree of freedom, and the abduction and adduction fixing frame (6008) is arranged on the back base (0001);
the two spherical diamond mechanisms comprise a first shoulder short rod (6001), a second shoulder short rod (6002), a third shoulder short rod (6003), a fourth shoulder short rod (6004), a first shoulder long rod (6005) and a second shoulder long rod (6006), wherein the first shoulder long rod (6005) and the second shoulder long rod (6006) are in an X shape, and the middle parts of the first shoulder long rod and the second shoulder long rod are rotationally connected through a shoulder central shaft (6013); one end of the first shoulder short rod (6001) is connected with one end of a first shoulder long rod (6005) through a first shoulder shared rotating shaft (6009), the other end of the first shoulder short rod (6001) is connected with one end of the third shoulder short rod (6003) through a front extension and back retraction rotating shaft (6014), the other end of the third shoulder short rod (6003) is connected with one end of the second shoulder long rod (6006) through a third shoulder shared rotating shaft (6011), one end of the second shoulder short rod (6002) is connected with the other end of the first shoulder long rod (6005) through a second shoulder shared rotating shaft (6010), the other end of the second shoulder short rod (6002) is connected with one end of a fourth shoulder short rod (6004) through an extension and retraction rotating shaft (6015), and the other end of the fourth shoulder short rod (6004) is connected with the other end of the second shoulder long rod (6006) through a fourth shoulder shared rotating shaft (6012); the first shoulder long rod (6005) and the second shoulder long rod (6006) are shared rods of two spherical diamond mechanisms, and the front-extension back-extension rotating shaft (6014) and the abduction inner-retraction rotating shaft (6015) are respectively arranged on a shoulder front-extension back-extension fixing frame (6007) and an abduction inner-retraction fixing frame (6008).
2. The lightweight wearable localized force feedback biomimetic dual-arm exoskeleton master hand of claim 1, wherein: the control handle main body (1003) is provided with a protective cover (1007), and the trigger shaft (1002), the rotating wheel (1005), the tension line (1008), the non-return spring (1009) and the driving wheel (1010) are all positioned in a space surrounded by the control handle main body (1003) and the protective cover (1007).
3. The lightweight wearable localized force feedback biomimetic dual-arm exoskeleton master hand of claim 1, wherein: the one-degree-of-freedom forearm rotary joint assembly (4000) comprises a forearm motion retainer (4001), a crisscross roller bearing (4002), a forearm fixing retainer (4003) and an annular encoder (4004), wherein the forearm motion retainer (4001) is fixedly connected with an inner ring of the crisscross roller bearing (4002), and the forearm fixing retainer (4003) is fixedly connected with an outer ring of the crisscross roller bearing (4002); the inner ring and the outer ring of the annular encoder (4004) are respectively connected with the forearm movement retainer (4001) and the forearm fixing retainer (4003); the one degree of freedom wrist ruler Qu Naoqu joint assembly (3000) is connected with the forearm motion retainer (4001), and the forearm fixation retainer (4003) is connected with one end of the one degree of freedom elbow joint assembly (5000).
4. The lightweight wearable localized force feedback biomimetic dual-arm exoskeleton master hand of claim 1, wherein: the shoulder central shaft (6013), the front-extension and back-retraction shaft (6014) and the abduction and adduction shaft (6015) are respectively provided with encoders for recording the relative angles of the connecting rods of the spherical diamond mechanism in the movement process.
5. The lightweight wearable localized force feedback biomimetic dual-arm exoskeleton master hand of claim 1, wherein: the radians of the first shoulder long rod (6005) and the second shoulder long rod (6006) are equal, the radians of the first shoulder short rod (6001), the second shoulder short rod (6002), the third shoulder short rod (6003) and the fourth shoulder short rod (6004) are equal, and the radians of the first shoulder long rod (6005) and the second shoulder long rod (6006) are twice the radians of the first shoulder short rod (6001), the second shoulder short rod (6002), the third shoulder short rod (6003) and the fourth shoulder short rod (6004); the first shoulder long rod (6005) and the third shoulder short rod (6003) and the fourth shoulder short rod (6004) have the same curvature radius, and the second shoulder long rod (6006) and the first shoulder short rod (6001) and the second shoulder short rod (6002) have the same curvature radius.
6. The lightweight wearable localized force feedback biomimetic dual-arm exoskeleton master hand of claim 1, wherein: the rotation axes of the first shoulder shared rotating shaft (6009), the second shoulder shared rotating shaft (6010), the third shoulder shared rotating shaft (6011), the fourth shoulder shared rotating shaft (6012), the shoulder central shaft (6013), the front stretching and rear shrinking rotating shaft (6014) and the abduction and adduction rotating shaft (6015) are converged at the spherical center (O); after the three-degree-of-freedom spherical bionic shoulder joint assembly (6000) is worn, a rotation axis (J1) of a front stretching and rear shrinking shaft of the front stretching and rear shrinking shaft (6014) coincides with a front stretching and rear shrinking joint axis of a shoulder joint of a human body, a rotation axis (K1) of a front stretching and rear shrinking shaft of the outer stretching and inner shrinking shaft (6015) coincides with a front stretching and rear shrinking joint axis of the human body, an inner rotation axis (L1) coincides with a rotation axis of the inner stretching and rear shrinking shaft of the shoulder joint of the human body, and the rotation axis (J1), the rotation axis (K1) of the front stretching and rear shrinking shaft and the rotation axis (L1) of the inner rotation are mutually perpendicular to each other in a sphere center (O) in an initial state, and the sphere center (O) coincides with a movement center of the shoulder joint of the human body all the time.
7. The lightweight wearable localized force feedback biomimetic dual-arm exoskeleton master hand of claim 1, wherein: the shoulder central shaft (6013), the front-extension and back-extension rotating shaft (6014) and the abduction and adduction rotating shaft (6015) are respectively provided with an initial positioning reference (N) for determining the initial posture of the three-degree-of-freedom spherical bionic shoulder joint assembly (6000).
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